Hi, I have a multicopter setup that I have been using for a while with the default PID settings. So far these have been adequate but there are a few performance deficiencies that I would like to address. The main problem with the current tune is the loss of altitude when yawing which I guess I can improved by adjusting MC_YAWRATE_FF. But looking at the flight logs the rate controllers are also clearly overdamped. Since the PID tuning guide recommends addressing the rate loops before looking at the outer loops I was thinking about starting here.
The problem is that I’m not a very experienced flyer and I don’t want to trash this research project by loosing control in acro mode. While the tuning guide explicitly says not to, I wondered if anyone has had any success with strategies for PID tuning in position or velocity modes? I am lucky enough to have an rtk gps and/or access to a Vicon rig. Nb. The tuning doesn’t have to be super aggressive, I just wanted to get some of the way to being critically damped. In the absence of better strategies I have a couple of ideas that I was thinking of trying out:
- Each flying session (for me this entails offboard position and/or velocity control) I will increase either the rate P or D gain (depending on analysis of the previous session) and use the PID analysis tool to check for any overhsoots and gradually work towards an idealised step response for each axis.
- Using the vicon rig, I will perform aggressive velocity control (or, since safer in a confined area, position control with jerk smoothing switched off?) step inputs for each axis. As with 1), the tuning strategy outlined in the PX4 tuning scheme would be more or less adhered to, but in contrast to 1), we ensure that a large step input has been induced and the tuning can be “completed” in a single day.
I don’t know if this is a common problem (there seem to be many previous topics requesting auto-tune functionality) but if there is interest and a solution is found I am happy to feedback a description of what did/didn’t work.